Coarse calibration is far off

[anne-men]

Hi,
Currently, I am implementing your method to do the calibration of a RGB and depth camera in a Intel Realsense camera. I do this by following your article and the file but_velodyne/blob/master/but_calibration_camera_velodyne/src/calibration-node.cpp. Unfortunately, at the moment my estimated values for the translation in the coarse calibration are far off ([-62.17045574 21.37521807 325.99636285] while the Realsense provides me ([0.014840582385659218, 0.00022804923355579376, 0.00028663864941336215]). Do you by any chance know what can cause this? I taught, maybe it has something to do with scaling. Where in the code do you for example use the radius of, and the distance between the physical circles?

Thanks a lot!

Greetings,
Anne-Men

[martin-velas]

Hi, I have never encountered this problem. But, the radius/distances are set in https://github.com/robofit/but_velodyne/blob/master/but_calibration_camera_velodyne/conf/calibration.yaml
Cheers, Martin